My Final Project

Process

The design of the electronic part

The control board for the omni wheel's unipolar stepper

And here is the code for it:


const int clockwise = 9;
const int counterclockwise = 8;
const int brown = 1;
const int black = 2;
const int yellow = 3;
const int orange =  4;
int rotatecw = 0;
int rotateccw = 0;
void setup() {
  pinMode(clockwise, INPUT);
  pinMode(counterclockwise, INPUT);
  pinMode(brown, OUTPUT);
  pinMode(black, OUTPUT);
  pinMode(yellow, OUTPUT);
  pinMode(orange, OUTPUT);
}
void cw() {
  digitalWrite(orange, HIGH);
  digitalWrite(yellow, LOW);
  digitalWrite(black, LOW);
  digitalWrite(brown, LOW);
  delay(5);
  digitalWrite(orange, LOW);
  digitalWrite(yellow, HIGH);
  digitalWrite(black, LOW);
  digitalWrite(brown, LOW);
  delay(5);
  digitalWrite(orange, LOW);
  digitalWrite(yellow, LOW);
  digitalWrite(black, HIGH);
  digitalWrite(brown, LOW);
  delay(5);
  digitalWrite(orange, LOW);
  digitalWrite(yellow, LOW);
  digitalWrite(black, LOW);
  digitalWrite(brown, HIGH);
  delay(5);
}
void ccw() {
  digitalWrite(orange, LOW);
  digitalWrite(yellow, LOW);
  digitalWrite(black, LOW);
  digitalWrite(brown, HIGH);
  delay(5);
  digitalWrite(orange, LOW);
  digitalWrite(yellow, LOW);
  digitalWrite(black, HIGH);
  digitalWrite(brown, LOW);
  delay(5);
  digitalWrite(orange, LOW);
  digitalWrite(yellow, HIGH);
  digitalWrite(black, LOW);
  digitalWrite(brown, LOW);
  delay(5);
  digitalWrite(orange, HIGH);
  digitalWrite(yellow, LOW);
  digitalWrite(black, LOW);
  digitalWrite(brown, LOW);
  delay(5);
}
void loop() {
  rotatecw = digitalRead(clockwise);
  rotateccw = digitalRead(counterclockwise);
  if (rotatecw == LOW) {
    cw();
  }
  else {
  digitalWrite(brown, LOW);
  digitalWrite(black, LOW);
  digitalWrite(yellow, LOW);
  digitalWrite(orange, LOW);
  }
  if (rotateccw == LOW) {
    ccw();
  }
  else {
  digitalWrite(brown, LOW);
  digitalWrite(black, LOW);
  digitalWrite(yellow, LOW);
  digitalWrite(orange, LOW);
  }
  }

The board for the remote controller:

Here is the code for it:


const int up = 2;
const int down = 6;
const int left = 3;
const int right = 13;
const int updownclockwise = 12;
const int updowncounterclockwise = 11;
const int leftrightclockwise = 10;
const int leftrightcounterclockwise = 5;
int upward = 0;
int downward = 0;
int leftward = 0;
int rightward = 0;
void setup() {
  pinMode(up, INPUT);
  pinMode(down, INPUT);
  pinMode(left, INPUT);
  pinMode(right, INPUT);
  pinMode(updownclockwise, OUTPUT);
  pinMode(updowncounterclockwise, OUTPUT);
  pinMode(leftrightclockwise, OUTPUT);
  pinMode(leftrightcounterclockwise, OUTPUT);
}
void loop() {
upward = digitalRead(up);
downward = digitalRead(down);
leftward = digitalRead(left);
rightward = digitalRead(right);
if (upward == HIGH){
  digitalWrite(updownclockwise, HIGH);
  digitalWrite(updowncounterclockwise, LOW);
  digitalWrite(leftrightclockwise, LOW);
  digitalWrite(leftrightcounterclockwise, LOW);
}
else {
  digitalWrite(updownclockwise, LOW);
  digitalWrite(updowncounterclockwise, LOW);
  digitalWrite(leftrightclockwise, LOW);
  digitalWrite(leftrightcounterclockwise, LOW);
}
if (downward == HIGH){
  digitalWrite(updownclockwise, LOW);
  digitalWrite(updowncounterclockwise, HIGH);
  digitalWrite(leftrightclockwise, LOW);
  digitalWrite(leftrightcounterclockwise, LOW);
}
else {
  digitalWrite(updownclockwise, LOW);
  digitalWrite(updowncounterclockwise, LOW);
  digitalWrite(leftrightclockwise, LOW);
  digitalWrite(leftrightcounterclockwise, LOW);
}
if (leftward == HIGH){
  digitalWrite(updownclockwise, LOW);
  digitalWrite(updowncounterclockwise, LOW);
  digitalWrite(leftrightclockwise, HIGH);
  digitalWrite(leftrightcounterclockwise, LOW);
}
else {
  digitalWrite(updownclockwise, LOW);
  digitalWrite(updowncounterclockwise, LOW);
  digitalWrite(leftrightclockwise, LOW);
  digitalWrite(leftrightcounterclockwise, LOW);
}
if (rightward == HIGH){
  digitalWrite(updownclockwise, LOW);
  digitalWrite(updowncounterclockwise, LOW);
  digitalWrite(leftrightclockwise, LOW);
  digitalWrite(leftrightcounterclockwise, HIGH);
}
else {
  digitalWrite(updownclockwise, LOW);
  digitalWrite(updowncounterclockwise, LOW);
  digitalWrite(leftrightclockwise, LOW);
  digitalWrite(leftrightcounterclockwise, LOW);
}
}

The board for the laser:

Get the design files:

Stepper eagle files.

stepper-contoller eagle files.

laser_controller ealge files.

Milling process:

However, some problems came up

1. The time I linked the stepper to the board which had already been programmed, the stepper didn't work.

I check the design of the board and the components of it. And after about 4 hours checking (ops, it really took a lot of time since I searched a lot of information on the internet), I found that the mosfets I soldered to the board were actually the IC2 5.0v. The IC2 5.0v were being put in the plastic bag which has the label of 355AD mosfet.

Thanks to the picture from another students' pages, I found the problem.

2. Then, I found that the stepper was not moving smoothly and it would stop working after connecting to the battery for a few seconds.

Since I am flesh with the stepper and the arduino code, I didn't know how the stepper work. Then, I search the information for the control of the unipolar stepper using arduino code and how the stepper work.

I found that the Pins in arduino are actually different from the Eagle Pins.

Here is the photo of the Pins

Then, I found that different stepper needs different code and I found the ccw rotate information of my stepper(DC 5V 28YBJ-48)

And it work fine.

Here is the new code for it:

clockwise files(arduino)|||counterclockwise files(arduino)

3. When, I linked two stepper control board to the stepper and linked them to the battery, I found the stepper didn't work fine.

Here shows the problem I met:

Then, I realize the board can pass the current through the linking stepper, so I just add a 4.7v diode to the board.

Here is the test of the car

Here is the test for the remote-controller and the board

The design of the car

Jump to the design of the remote-controller

The component for the fixing of the stepper to the board

Get the original Fusion360 file

The main board cutting by laser of the car

The shield for the car made by Fusion360 and printed out by 3D printer

Get the original Fusion360 file

And I use the laser-cutter to cut a lid of it

The design of the remote-controller

First, I design the button using the Fusion360 and print it out by the 3D printer

Get the button1 fusion360 file.

Then, the button for the control of the laser on and off

Get the button2 fusion360 file.

Then, I design the box for the remote-controller.

Get the stl files of the remote-controller————print it out by the 3D printer.

After the electronic designing part being done, I modified the button since I found I do not have enough space for bigger button.

Get the new button

But there is some problem with the 3D printer in our Lab, it just stop working. It seems that there are some problems with the endmill.

So, I change the plan, I decide to use the laser-cutter to make a wood box for my car.

And there are some problem with the remote-controller box. Something like the errors while measuring the board. And I modified 3 times but finally failed.

If the remote-box were design, my car must appear to be more beautiful.

In addition, during the final presentation, professor Neil mentions that my car is a dangerous stuff, and I have the obligatory to protect the others' eyes.

So, I use some cloth that can block the laser under the car so that the other can't watch directly to the laser.

Result

My Final Project --

a laser engraver car.

Plan | a moveable laser engraver

Preparation

Process